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FlightModeManager: rework task starting

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with the goal to make it more clear and the error only appear when
armed but every time the running task doesn't actually match
the mapping inside the start_flight_task() function.
This commit is contained in:
Matthias Grob
2023-04-15 16:45:32 +02:00
parent b02a785033
commit 1e94ad19c0
2 changed files with 64 additions and 73 deletions
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src/modules/flight_mode_manager/FlightModeManager.hpp
+1 -2
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@@ -130,8 +130,7 @@ private:
int8_t _old_landing_gear_position{landing_gear_s::GEAR_KEEP};
uint8_t _takeoff_state{takeoff_status_s::TAKEOFF_STATE_UNINITIALIZED};
hrt_abstime _failsafe_task_activated_start{0};
bool _failsafe_task_error_printed{false};
bool _no_matching_task_error_printed{false};
perf_counter_t _loop_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")}; ///< loop duration performance counter
hrt_abstime _time_stamp_last_loop{0}; ///< time stamp of last loop iteration